function sys=plant(t,x,v,dt)

j0=0.095;
b0=0.087;
kt=1;
dtheta1=x(1);
dtheta2=x(2);
dtheta3=x(3);
dtheta4=x(4);
sys=zeros(4,1);

sys(1)=1/j0*(-b0*dtheta1-dt(1)+kt*v(1));
sys(2)=1/j0*(-b0*dtheta2-dt(2)+kt*v(2));
sys(3)=1/j0*(-b0*dtheta3-dt(3)+kt*v(3));
sys(4)=1/j0*(-b0*dtheta4-dt(4)+kt*v(4));
end